From 76320126fe90c5ccb483b5a2ef239e4a652bbaec Mon Sep 17 00:00:00 2001 From: Michal Antkiewicz Date: Mon, 7 Dec 2020 16:59:03 -0500 Subject: [PATCH 01/11] update wave_geometry(master), change libwave to CXX 17 --- CMakeLists.txt | 2 +- wave_geometry | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 76084e5c..fc5b111b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -5,7 +5,7 @@ PROJECT(wave) SET(WAVE_PACKAGE_VERSION 0.1.0) # Compiler settings for all targets -SET(CMAKE_CXX_STANDARD 11) +SET(CMAKE_CXX_STANDARD 17) SET(CMAKE_POSITION_INDEPENDENT_CODE ON) ADD_COMPILE_OPTIONS(-Wall -Wextra -Wno-strict-overflow) diff --git a/wave_geometry b/wave_geometry index 27be85b3..7f8b62ae 160000 --- a/wave_geometry +++ b/wave_geometry @@ -1 +1 @@ -Subproject commit 27be85b37f25b8bb7ec4cd3fc189d3fc9fb7361d +Subproject commit 7f8b62aeb043a5f44a7413191d0607894e9d5542 From f59db430ee3d0d2391c6f672cb49515f7ff0bd9d Mon Sep 17 00:00:00 2001 From: Michal Antkiewicz Date: Mon, 7 Dec 2020 17:43:59 -0500 Subject: [PATCH 02/11] update README, add rosdep deps to package.xml --- README.md | 8 ++++---- package.xml | 3 +++ 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 27f55f62..89e56c55 100644 --- a/README.md +++ b/README.md @@ -41,7 +41,7 @@ Some earlier versions may work, but are not tested. - gtsam - GeographicLib 1.49 -Building libwave requires CMake 3.2 and a C++11 compiler (tested on GCC 5.4). +Building libwave requires CMake 3.2 and a C++17 compiler (tested on GCC 5.4). ### Installing dependencies The basic set of dependencies can be installed with the Ubuntu package manager @@ -69,16 +69,16 @@ described above. Then build using CMake: cd build cmake .. make -j8 - + By default, all libraries whose dependencies are found will be built. Individual libraries can be disabled using CMake options. For example, cmake .. -DBUILD_wave_vision=OFF - + will disable building `wave_vision`. Install libwave by running `make install`. Alternatively, you can enable the -`EXPORT_BUILD` option in CMake, which will make the libwave build directory +`EXPORT_BUILD` option in CMake, which will make the libwave build directory searchable by CMake without installation. diff --git a/package.xml b/package.xml index 1cf954aa..c8f89a7a 100644 --- a/package.xml +++ b/package.xml @@ -12,4 +12,7 @@ cmake + libboost-dev + yaml-cpp + eigen From 9077ec80ec17d775702abcfc650b17fb838ec4b9 Mon Sep 17 00:00:00 2001 From: Michal Antkiewicz Date: Mon, 7 Dec 2020 17:44:14 -0500 Subject: [PATCH 03/11] update googletest(master) --- deps/googletest | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/deps/googletest b/deps/googletest index aa148eb2..93748a94 160000 --- a/deps/googletest +++ b/deps/googletest @@ -1 +1 @@ -Subproject commit aa148eb2b7f70ede0eb10de34b6254826bfb34f4 +Subproject commit 93748a946684defd1494d5585dbc912e451e83f8 From 05a62538b05cf39df6a1491e561af3add07ef695 Mon Sep 17 00:00:00 2001 From: Michal Antkiewicz Date: Mon, 7 Dec 2020 17:50:39 -0500 Subject: [PATCH 04/11] switch googletest from master (rolling release) to 1.10 --- deps/googletest | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/deps/googletest b/deps/googletest index 93748a94..703bd9ca 160000 --- a/deps/googletest +++ b/deps/googletest @@ -1 +1 @@ -Subproject commit 93748a946684defd1494d5585dbc912e451e83f8 +Subproject commit 703bd9caab50b139428cea1aaff9974ebee5742e From 1709de42f9030e650c0cdcddbf4cb69bf43769ea Mon Sep 17 00:00:00 2001 From: Michal Antkiewicz Date: Mon, 7 Dec 2020 17:57:22 -0500 Subject: [PATCH 05/11] add geographiclib to rosdeps --- package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/package.xml b/package.xml index c8f89a7a..4f1354be 100644 --- a/package.xml +++ b/package.xml @@ -15,4 +15,5 @@ libboost-dev yaml-cpp eigen + geographiclib From d1824f71ee3ad01788ad1702e444c059310e01ec Mon Sep 17 00:00:00 2001 From: Michal Antkiewicz Date: Tue, 8 Dec 2020 09:30:47 -0500 Subject: [PATCH 06/11] add rosunit as in package.xml --- package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/package.xml b/package.xml index 4f1354be..212b9985 100644 --- a/package.xml +++ b/package.xml @@ -16,4 +16,5 @@ yaml-cpp eigen geographiclib + rosunit From 3d8653de189fa5764fb498e3ac9f6854185e881e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Micha=C5=82=20Antkiewicz?= Date: Wed, 30 Jun 2021 16:25:33 -0400 Subject: [PATCH 07/11] Log debug ground segmentation (#296) * reduce console spam in ground_segmentation, use LOG_DEBUG * use ROS_DEBUG_THROTTLE_NAMED --- .../include/wave/matching/impl/ground_segmentation.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/wave_matching/include/wave/matching/impl/ground_segmentation.hpp b/wave_matching/include/wave/matching/impl/ground_segmentation.hpp index 9a3c0de4..bab5e5d7 100644 --- a/wave_matching/include/wave/matching/impl/ground_segmentation.hpp +++ b/wave_matching/include/wave/matching/impl/ground_segmentation.hpp @@ -227,7 +227,7 @@ void GroundSegmentation::sectorINSAC(int sector_index) { if (Vf_s.rows() == 0) { keep_going = false; - LOG_INFO("WARNING BREAKING LOOP: VF_s does not exist"); + ROS_DEBUG_THROTTLE_NAMED(2, "Ground segmentation", "BREAKING LOOP: VF_s does not exist"); continue; } @@ -352,7 +352,7 @@ void GroundSegmentation::sectorINSAC(int sector_index) { cur_cell.obs_mean = obs_sum / num_obs; } } else { - LOG_INFO("WARNING:Insufficient Model for angular slice"); + ROS_DEBUG_THROTTLE_NAMED(2, "Ground segmentation", "Insufficient Model for angular slice"); } } From 83f492820d625f6fa79bc89a65301deea23b0562 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Micha=C5=82=20Antkiewicz?= Date: Mon, 27 Sep 2021 12:37:24 -0400 Subject: [PATCH 08/11] explicitly include gtsam/geometry/SimpleCamera.h to work with gtsam 4.0.3 release --- wave_gtsam/tests/gtsam/gtsam_offline_example.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/wave_gtsam/tests/gtsam/gtsam_offline_example.cpp b/wave_gtsam/tests/gtsam/gtsam_offline_example.cpp index efa1e6cf..36b82cc1 100644 --- a/wave_gtsam/tests/gtsam/gtsam_offline_example.cpp +++ b/wave_gtsam/tests/gtsam/gtsam_offline_example.cpp @@ -6,6 +6,7 @@ #include #include #include +#include #include "wave/wave_test.hpp" #include "wave/vision/dataset/VoDataset.hpp" From 0d64989ca3b7c1a164509c3ae0d6a4c973fcd41f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Micha=C5=82=20Antkiewicz?= Date: Mon, 27 Sep 2021 12:43:23 -0400 Subject: [PATCH 09/11] update wave_geometry(master) --- wave_geometry | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wave_geometry b/wave_geometry index 7f8b62ae..aabcad44 160000 --- a/wave_geometry +++ b/wave_geometry @@ -1 +1 @@ -Subproject commit 7f8b62aeb043a5f44a7413191d0607894e9d5542 +Subproject commit aabcad44a490fc6393b35e63db9ad8908cf46dec From d112a5e07147919ff80a6240f1a57ad12746b1aa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Micha=C5=82=20Antkiewicz?= Date: Mon, 27 Sep 2021 12:53:21 -0400 Subject: [PATCH 10/11] use LOG_INFO --- .../include/wave/matching/impl/ground_segmentation.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wave_matching/include/wave/matching/impl/ground_segmentation.hpp b/wave_matching/include/wave/matching/impl/ground_segmentation.hpp index 7f8fa9d3..20d685e9 100644 --- a/wave_matching/include/wave/matching/impl/ground_segmentation.hpp +++ b/wave_matching/include/wave/matching/impl/ground_segmentation.hpp @@ -227,7 +227,7 @@ void GroundSegmentation::sectorINSAC(int sector_index) { if (Vf_s.rows() == 0) { keep_going = false; - ROS_DEBUG_THROTTLE_NAMED(2, "Ground segmentation", "BREAKING LOOP: VF_s does not exist"); + LOG_INFO("Ground segmentation: BREAKING LOOP: VF_s does not exist"); continue; } From 199543de8f99596e295f8a934f455bdbc8eb3d3b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Micha=C5=82=20Antkiewicz?= Date: Mon, 27 Sep 2021 14:04:34 -0400 Subject: [PATCH 11/11] fix gtsam_offline_kitti_example test: include SimpleCamera explicitly --- wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp b/wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp index 19e923f1..c283b19c 100644 --- a/wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp +++ b/wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp @@ -6,6 +6,7 @@ #include #include #include +#include #include "wave/wave_test.hpp" #include "wave/vision/dataset/VoDataset.hpp"